Sound event localization and detection (SELD) has many applications in urban sound sensing [1]}, wildlife monitoring [2]}, surveillance [3]}, autonomous driving [4]}, and robotics [5]}. SELD is an emerging research field that aims to combine the tasks of sound event detection (SED) and direction-of-arrival estimation (DOAE) by jointly recognizing the sound classes, and estimating the directions of arrival (DOA), the onsets, and offsets of detected sound events [6]}.
